Control of Other Underactuated Mechanical Systems
This chapter presents several applications of the observer and control design techniques developed in the previous chapters to the control of other underactuated mechanical systems including mobile robots and VTOL aircraft. For mobile robots, a global exponential observer is first designed based on the observer design for underactuated ships in Chapter 7. Output feedback simultaneous stabilization and trajectory-tracking, and path-following controllers are then developed using the control design techniques proposed for underactuated ships in Chapters 6 and 11. For VTOL aircraft, the observer and control design strategies used for underactuated ships in Chapters 5 and 6 are utilized to design a global output feedback trajectory-tracking controller.
KeywordsMobile Robot Output Feedback Reference Trajectory Tracking Controller Virtual Control
Unable to display preview. Download preview PDF.